Operation shadowless lamp illumination control method and system

Abstract

The invention provides an operation shadowless lamp illumination control method and system, and the method comprises the steps: S1, capturing the movement track of an instrument in real time through a camera of a shadowless lamp; s2, analyzing the movement track of the instrument, and extracting dynamic characteristics of the movement track of the instrument; s3, decoding the operation intention through the combination of the dynamic characteristics, and generating a lighting demand according to the operation intention; and S4, according to the illumination requirement, the lamp bead array output of the shadowless lamp is adjusted in real time, and a dynamic light spot meeting the operation requirement is generated. The dynamic light spots are generated through the lamp bead array partition control and the gradual change strategy matched with the movement rhythm of the instrument, the problems that in the prior art, light spot adjustment lags behind, sudden change interferes with the surgical field or manual adjustment is needed by a doctor are solved, finally, intelligent dynamic adaptation of illumination along with surgical operation is achieved, and the surgical efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shadowless lamps, and in particular to a lighting control method and system for a surgical shadowless lamp. Background Art

[0002] Existing technologies mostly use a unified lighting mode, ignoring the inherent functional differences of different instruments (such as needle holders requiring a small-range focused light spot, retractors requiring a large-range extended light spot, and laparoscopic instruments requiring a dynamic tracking light spot). This results in an overly diffuse field of view when operating high-precision instruments and an insufficient field of view when operating large-scale instruments. In addition, the light spot adjustment lacks dynamic adaptability. Either the adjustment lags behind the movement of the instrument (such as the instrument has moved but the light spot is not synchronized), or the light spot suddenly changes during the adjustment process (such as a sudden change in brightness or range), interfering with the doctor's visual focus. The doctor may even be required to manually interrupt the operation to adjust the lighting, increasing the burden of surgery and the risk of operation. Summary of the Invention

[0003] Based on the problems existing in the above background technology, the present invention proposes a surgical shadowless lamp lighting control method and system, and the technical solutions adopted are as follows:

[0004] A method for controlling surgical shadowless lamp lighting, the method comprising:

[0005] S1: The shadowless lamp's camera can be used to capture the movement trajectory of the instrument in real time;

[0006] S2: Analyze the motion trajectory of the instrument and extract the dynamic characteristics of the motion trajectory of the instrument;

[0007] S3: Decode the operation intention through the combination of dynamic features and generate lighting requirements based on the operation intention;

[0008] S4: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

[0009] Preferably, the apparatus of S1 includes:

[0010] Construct an instrument contour feature library, calculate the multi-scale curvature features of the candidate objects, perform similarity comparison with the feature library, and determine the type of the instrument.

[0011] Preferably, the process of analyzing the motion trajectory of the instrument to extract dynamic features in S2 includes:

[0012] The continuously collected coordinates of the instrument motion trajectory are analyzed in time series to calculate the instantaneous velocity and acceleration of the instrument during the motion process. The instantaneous velocity is determined by the ratio of the trajectory position change at adjacent moments to the time interval, and the acceleration is determined by the ratio of the instantaneous velocity change at adjacent moments to the time interval.

[0013] Preferably, extracting the dynamic characteristics of the motion trajectory of the instrument in S2 further includes:

[0014] By analyzing the spatial distribution characteristics of the instrument's motion trajectory, the disorder degree and motion direction trend of the instrument's motion are determined. The disorder degree of motion is calculated by the discrete degree of the trajectory points relative to the fitted reference trajectory, and the motion direction trend is obtained by analyzing the change law of the displacement direction of continuous trajectory points.

[0015] Preferably, the step S3 of decoding the operation intention by combining dynamic features specifically includes:

[0016] The constructed dynamic feature combination operation intention mapping library associates and combines multiple dynamic features, matches them with the constructed dynamic feature combination operation intention mapping library, and determines the operation intention of the current operation based on the matching results.

[0017] Preferably, the step S3 of generating a dynamic light spot that meets the operational requirements specifically includes:

[0018] Call the pre-stored association rules of operation intention, instrument type and lighting requirement to generate lighting requirements adapted to the instrument type. According to the operation intention, determine the coverage characteristics of the light spot of the lighting requirement.

[0019] Preferably, the association rules among operation intention, device type and lighting requirement are constructed as follows:

[0020] Establishing a database of correspondences between instrument types and inherent operational functions, including operational accuracy requirements, range of action, and degrees of freedom of movement;

[0021] Based on the above functions, basic lighting requirements are derived, among which high-precision instruments map small-range focused light spots; instruments with large range of action map extended light spots; and multi-degree-of-freedom instruments map dynamic tracking light spots.

[0022] Preferably, the real-time adjustment of the lamp bead array output of the shadowless lamp in S4 specifically includes:

[0023] Based on the lighting requirements generated in step S3, the lamp array is divided into multiple independent control areas that match the dynamic light spot shape; and a dynamic light spot that meets the operational requirements is formed through the coordinated control of each area.

[0024] Preferably, the dynamic light spot includes:

[0025] When the lighting demand changes, the output state of the lamp array is adjusted through the gradual control strategy to make the light spot transition from the current state to the target state;

[0026] The gradual change control strategy includes: adjusting the rate of change of the luminous intensity of the lamp beads, and the transition process is matched with the movement rhythm of the instrument captured in step S1.

[0027] A surgical shadowless lamp lighting control system, the system comprising:

[0028] Real-time instrument trajectory capture system: The shadowless lamp's camera can capture the instrument's movement trajectory in real time;

[0029] Real-time instrument trajectory capture system: Analyzes the instrument trajectory and extracts the dynamic characteristics of the instrument trajectory;

[0030] Operation intention decoding and lighting demand generation system: decodes operation intention through the combination of dynamic features and generates lighting requirements based on the operation intention;

[0031] Dynamic light spot shaping system: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

[0032] Beneficial effects of the present invention: The present invention generates basic lighting requirements adapted to the instrument function by establishing the "instrument type - inherent function - lighting requirements" association rules, thereby solving the technical problem that traditional lighting is difficult to take into account different instrument operation scenarios; dynamic light spots are generated by zoning control of the lamp array and a gradient strategy that matches the instrument movement rhythm, solving the problems of light spot adjustment lag, sudden changes that interfere with the surgical field of view, or the need for manual adjustment by the doctor in the existing technology, ultimately realizing intelligent dynamic adaptation of lighting to surgical operations, and improving surgical efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The present invention provides a method for controlling the lighting of a surgical shadowless lamp. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0035] One embodiment of the present invention provides a method for controlling lighting of a surgical shadowless lamp, the method comprising:

[0036] S1: The shadowless lamp's camera can be used to capture the movement trajectory of the instrument in real time;

[0037] S2: Analyze the motion trajectory of the instrument and extract the dynamic characteristics of the motion trajectory of the instrument;

[0038] S3: Decode the operation intention through the combination of dynamic features and generate lighting requirements based on the operation intention;

[0039] S4: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

[0040] The working principle and effect of the above technical solution are as follows: S1 uses the shadowless lamp camera to capture the instrument movement trajectory in real time, providing raw spatial position data for subsequent analysis; S2 performs temporal and spatial analysis on the trajectory, extracts dynamic characteristics such as instantaneous speed, acceleration, motion disorder, directional trend, etc., and converts the abstract trajectory into quantifiable operation characteristics; S3 uses the constructed dynamic feature combination-operation intention mapping library to associate, combine and match multi-dimensional features, decode the operation intention of the current operation (such as cutting, suturing, traction, etc.), and then call the pre-stored operation intention-instrument type-lighting requirement association rules, combined with the instrument type obtained by S1 to generate adaptive lighting requirements; S4 divides the shadowless lamp bead array into independent control areas according to the generated lighting requirements, and adjusts the output status of the lamp beads through the coordinated adjustment of each area, and adopts a gradual control strategy that matches the instrument movement rhythm to generate dynamic light spots that meet the operation requirements in real time, and finally realizes intelligent adaptation of lighting to surgical operations.

[0041] This method captures the instrument's motion trajectory in real time and extracts dynamic features, combines multi-dimensional features to decode the operation intention, matches the dynamic needs of surgical operations, and avoids the ambiguity of single feature analysis; generates adaptive lighting requirements by associating instrument types, so that the light spot parameters not only fit the operation intention but also the functional characteristics of the instrument, solving the problem that traditional lighting is difficult to take into account different instrument operation scenarios; adopts lamp array zoning control and a gradient strategy that matches the instrument's movement rhythm to achieve real-time generation of dynamic light spots, reduce the frequency of doctors manually adjusting lighting, improve surgical efficiency, avoid blind spots in the field of view, enhance the clarity of the surgical field of view, and ultimately improve the accuracy and safety of surgical operations, realizing intelligent adaptation of lighting as the operation progresses.

[0042] In one embodiment of the present invention, the apparatus of S1 includes:

[0043] Construct an instrument contour feature library, calculate the multi-scale curvature features of the candidate objects, perform similarity comparison with the feature library, and determine the type of the instrument.

[0044] The working principle and effect of the above technical solution are as follows: standard contour data of various surgical instruments are collected in advance, and curvature features at different scales (tip curvature, mid-section smoothness, end corner radian, etc.) are extracted to construct an instrument contour feature library as a benchmark for type recognition; during real-time processing, edge detection and contour extraction are performed on the candidate object contours captured by the camera, and its multi-scale curvature features at the same scale are calculated. By performing a similarity quantitative comparison with the curvature features of various instruments in the feature library (calculating the Euclidean distance between feature vectors), the instrument type with the highest similarity is determined as the current recognition result.

[0045] This method captures the morphological details of different parts of the instrument by constructing an instrument contour feature library and calculating multi-scale curvature features, avoiding the limitations of single feature recognition and improving the accuracy of instrument type recognition; standardized judgment is achieved through quantitative comparison of similarities, reducing the subjective errors of manual recognition.

[0046] In one embodiment of the present invention, the step of extracting the dynamic characteristics of the motion trajectory of the instrument in S2 further includes:

[0047] By analyzing the spatial distribution characteristics of the instrument's motion trajectory, the disorder degree and motion direction trend of the instrument's motion are determined. The disorder degree of motion is calculated by the discrete degree of the trajectory points relative to the fitted reference trajectory, and the motion direction trend is obtained by analyzing the change law of the displacement direction of continuous trajectory points.

[0048] The working principle and effect of the above technical solution are as follows: first, the spatial distribution of the continuously collected instrument motion trajectory points is analyzed. For the degree of motion disorder, the reference path of the trajectory is fitted by the least squares method and other methods, and the Euclidean distance from each trajectory point to the reference trajectory is calculated. The degree of discreteness of the trajectory points is quantified by the statistical values ​​of these distances. The larger the value, the more disordered the motion. For the motion direction trend, the displacement vectors between consecutive trajectory points are calculated, and the angle between adjacent displacement vectors is solved. The direction change law is analyzed by indicators such as the mean and variance of the angle (small mean and variance of the angle indicate a stable direction trend, otherwise the direction is changeable), thereby determining the continuity or variability of the direction of the instrument motion.

[0049] By quantitatively analyzing the discreteness of trajectory points, the degree of motion disorder is determined, and high-disorder and low-disorder operation types are distinguished, avoiding the limitation that a single speed / acceleration parameter cannot distinguish the nature of the operation; by analyzing the changing pattern of continuous displacement direction, the motion direction trend is extracted, which improves the recognition accuracy of operation features such as "straight line cutting" (stable direction) and "blood vessel separation" (variable direction), avoiding misjudgment of the intention of operations with variable direction.

[0050] In one embodiment of the present invention, the decoding of the operation intention by combining dynamic features in S3 specifically includes:

[0051] The constructed dynamic feature combination operation intention mapping library associates and combines multiple dynamic features, matches them with the constructed dynamic feature combination operation intention mapping library, and determines the operation intention of the current operation based on the matching results.

[0052] The working principle and effect of the above technical solution are: by constructing a mapping library containing the correspondence between multiple dynamic characteristics (speed, acceleration, directional change rate, disorder) and operation intentions, the multi-dimensional feature vectors collected in real time are matched with the predefined patterns in the mapping library for similarity (calculating the Euclidean distance), and the operation intention is determined based on the pattern with the highest matching degree. The specific associated combinations are as follows: Stable cutting: corresponding to electric knife + speed v>60mm / s and acceleration a<15mm / s² and direction change rate θ<0.2rad / s and disorder D<0.3; Fine suturing: corresponding to needle holder + speed v=10-30mm / s and acceleration a<10mm / s² and direction change rate θ<0.1rad / s and disorder D<0.2; Tissue exploration: corresponding to forceps + speed v<40mm / s and disorder D>0.5 or direction change rate θ>0.4rad / s; Blood vessel separation: corresponding to separation forceps + speed v=20-50mm / s and acceleration a=10-25mm / s² and direction change rate θ=0.2-0.3rad / s and disorder D=0.3-0.4; Emergency hemostasis: corresponding to electric coagulation hook + speed v>50mm / s And the acceleration a>30mm / s² and the disorder degree D=0.3-0.5; tissue traction: corresponding retractor + speed v=30-70mm / s and the acceleration a<20mm / s² and the direction change rate θ<0.2rad / s and the disorder degree D<0.3.

[0053] By accurately mapping the combination of multi-dimensional dynamic features with operational intent, the ambiguity of single feature analysis is avoided and the accuracy of operational intent recognition is greatly improved; exclusive feature combination rules are constructed in combination with device types to make the recognition results more consistent with the functional characteristics of the device and avoid misjudgment across device types; the matching process is standardized through the mapping library to reduce subjective judgment errors.

[0054] In one embodiment of the present invention, the step S3 of generating a dynamic light spot that meets the operational requirements specifically includes:

[0055] Call the pre-stored association rules of operation intention, instrument type and lighting requirement to generate the lighting requirement adapted to the instrument type. According to the operation intention, determine the coverage characteristics of the light spot required by the lighting requirement, and the long axis length L of the light spot coverage range satisfies:

[0056]

[0057] Wherein, L represents the length of the major axis of the light spot; It represents the basic length of the instrument, that is, the reference spot coverage required by the instrument in a standard operating scenario; S represents the cross-sectional area of ​​the instrument operating end; v represents the instantaneous velocity; a represents the acceleration; Indicates the length of the instrument's operating end; Indicates the angle between the instrument and the surgical plane. Obtained through the camera of the shadowless lamp.

[0058] The working principle and effect of the above technical solution are: basic length The inherent physical parameters directly bound to the instrument type represent the basic lighting requirements of the instrument when there is no dynamic adjustment. Surgical instruments will be marked with "recommended lighting range for the operating area", which can be directly used as Reference value of

[0059] Operation length The length of the portion of the surgical instrument that comes into direct contact with the surgical tissue and performs the surgical function, including the tip, blade, or active area of ​​the instrument. The operating end length is clearly stated in the product manual.

[0060] In the calculation formula for adjusting the length of the long axis of the light spot, the following formula is introduced: Avoid deviations from the core operating area of ​​the device (e.g., if , which can cause the light spot of delicate instruments to overexpand, potentially losing critical visual fields. The cross-sectional area (S) of the instrument's operating end reflects the spatial scale of its range of action. A larger S indicates a wider range of contact between the instrument and tissue, requiring a larger spatial coverage base for illumination. A smaller S indicates a more delicate operation, requiring more focused illumination. The ratio of cross-sectional area to base length essentially represents the ratio of the instrument's range of action relative to the baseline illumination, quantifying the inherent ability of the instrument's properties to drive light spot expansion. A larger ratio indicates a greater likelihood of the light spot expanding dynamically with the operation.

[0061] Introduction , a small movement of the instrument tip can cause a large range of tissue displacement, and the illumination needs to be predicted and expanded in advance; the shorter L_1, the higher the operation accuracy, and the light spot needs to follow the dynamic adjustment of the tip. The product of speed and operating end length simulates the spatial influence range of the operating end movement. For example, at the same speed, a long-handled instrument The larger the beam, the more significant the expansion of the driving spot. Convert speed into a "dynamic expansion ratio relative to the reference range" to avoid "oversensitivity of short-handled instruments" caused by pure speed values.

[0062] Introduction , The smaller the angle (instrument tilt), the larger the "projection range" of the surgical field of view, and the larger the spot coverage is required. By correcting the angle, the matching degree between the spot range and the geometric projection of the actual field of view is improved. Reflects the "kinetic energy-related inertia of the operation" (the greater the speed and the smaller the acceleration, the stronger the operation inertia, and physically requires a wider field of view to predict the movement trajectory). This term reflects the flexibility of the instrument's operating end (the shorter L1, the more flexible the operating end, physically requiring a more sensitive light spot to follow); sinα reflects the angular adaptation between the operating direction and the field of view (during tilted operation, the field of view physically expands on the plane, requiring the light spot to adapt simultaneously). This term multiplies the physical characteristics of "operation intensity, instrument flexibility, and operating angle," linking the light spot expansion to the physical intensity and direction of the operation.

[0063] In summary, this formula breaks through the limitations of single parameter control or reliance on empirical coefficients in existing technologies. It achieves innovation by exploring the relationship between the physical properties, motion characteristics, and lighting requirements of instruments during surgical operations, improves the differentiation of the lighting range of different instrument types, and avoids the one-sidedness of single motion parameter control; uses the coupling relationship between the length of the operating end and the speed and acceleration to improve the dynamic response accuracy to the operating rhythm and avoid loss of vision during sudden operations; combines the sine value of the angle between the instrument and the surgical plane to improve the lighting adaptability during tilted operations and avoid insufficient lighting caused by blind spots in the visual field.

[0064] In one embodiment of the present invention, the association rules among operation intention, device type, and lighting requirement are constructed as follows:

[0065] Establishing a database of correspondences between instrument types and inherent operational functions, including operational accuracy requirements, range of action, and degrees of freedom of movement;

[0066] Based on the above functions, basic lighting requirements are derived, among which high-precision instruments map small-range focused light spots; instruments with large range of action map extended light spots; and multi-degree-of-freedom instruments map dynamic tracking light spots.

[0067] The working principle and effect of the above technical solution are as follows: A database of correspondences between instrument types and inherent operational functions is established, clarifying the inherent operational function parameters of each instrument (including operational precision requirements, range of action, and degrees of freedom of movement). Based on these inherent operational function parameters, basic lighting requirements are derived through a function-to-lighting requirement mapping logic. For instruments marked as requiring high precision (microtweezers), due to the precise focusing required for operation, they are mapped to a small, high-brightness focused light spot. For instruments marked as requiring a large range of action (retractors), due to the need to cover a wider surgical field, they are mapped to a large, extended light spot along the long axis. For instruments marked as requiring multiple degrees of freedom (electrocoagulation hooks), due to the flexible and changeable motion trajectory, they are mapped to a dynamic tracking light spot whose range and angle can be adjusted in real time with the instrument's movement. This ultimately forms a direct correlation rule between "instrument type - inherent function - lighting requirement."

[0068] By establishing a direct association between instrument type and inherent operating function, the derivation of lighting requirements has a clear functional basis, avoiding the problem of disconnection between lighting parameters and the actual operating characteristics of the instrument in traditional rules; the function-based mapping logic is clear and explainable, ensuring that the basic lighting requirements of different types of instruments match their operational requirements, solving the problem that a single lighting mode is difficult to adapt to the functions of various instruments; at the same time, it provides a stable basic framework for the subsequent dynamic adjustment of lighting in combination with operational intentions, reducing parameter conflicts during dynamic adjustment, and improving the scalability and clinical applicability of the rules.

[0069] In one embodiment of the present invention, the step S4 of adjusting the output of the lamp array of the shadowless lamp in real time specifically includes:

[0070] Based on the lighting requirements generated in step S3, the lamp array is divided into multiple independent control areas that match the dynamic light spot shape; and a dynamic light spot that meets the operational requirements is formed through the coordinated control of each area.

[0071] The working principle and effect of the above technical solution are as follows: based on the lighting requirements generated by S3, the lamp array of the shadowless lamp is first divided into multiple independently controllable sub-areas (central focus area, edge transition area, extension area, etc.), and each sub-area corresponds to a different morphological part of the dynamic light spot (central highlight area, edge gradient area); by adjusting the luminous intensity, number of lights and luminous angle of the lamp beads in each sub-area, each area works together to form a dynamic light spot shape (small-range focus spot, extended light spot) that meets the current operation requirements; when the lighting requirements change due to changes in the operation intention, the gradual control strategy is activated, and through real-time analysis of the instrument movement rhythm captured by S1, the luminous intensity change rate of the lamp beads is synchronously adjusted to make the light spot smoothly transition from the current state to the target state.

[0072] By dividing the lamp array into independent control areas and controlling them collaboratively, the ability to precisely control the dynamic light spot shape is improved, avoiding the limitation that single-area control is difficult to adapt to complex light spot requirements; the area division based on lighting requirements enables the light spot shape to directly match the operational requirements, thereby improving the targeted lighting; the gradual control strategy avoids the interference of light spot mutations on the surgical field of view by adjusting the rate of change of the lamp bead luminous intensity and matching it with the movement rhythm of the instrument, thereby reducing the visual adaptation burden of the doctor; at the same time, the coordinated transition of each area ensures the smooth switching of the light spot from the current state to the target state, improving the consistency of dynamic adjustment, and solving the field of view flickering or fault problems that are prone to occur in traditional lighting adjustment.

[0073] One embodiment of the present invention provides a surgical shadowless lamp lighting control system, the system comprising:

[0074] Real-time instrument trajectory capture system: The shadowless lamp's camera can capture the instrument's movement trajectory in real time;

[0075] Real-time instrument trajectory capture system: Analyzes the instrument trajectory and extracts the dynamic characteristics of the instrument trajectory;

[0076] Operation intention decoding and lighting demand generation system: decodes operation intention through the combination of dynamic features and generates lighting requirements based on the operation intention;

[0077] Dynamic light spot shaping system: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

[0078] The working principle and effect of the above technical solution are as follows: using the shadowless lamp camera to capture the instrument movement trajectory in real time, providing raw spatial position data for subsequent analysis; performing temporal and spatial analysis on the trajectory, extracting dynamic characteristics such as instantaneous speed, acceleration, motion disorder, directional trend, etc., and converting the abstract trajectory into quantifiable operation characteristics; through the constructed dynamic feature combination-operation intention mapping library, the multi-dimensional features are associated, combined and matched to decode the operation intention of the current operation (such as cutting, suturing, traction, etc.), and then calling the pre-stored operation intention-instrument type-lighting requirement association rules, combining the obtained instrument type to generate adaptive lighting requirements; according to the generated lighting requirements, the shadowless lamp bead array is divided into independent control areas, and the output status of the lamp beads is coordinated by each area, and a gradual control strategy that matches the instrument movement rhythm is adopted to generate dynamic light spots that meet the operation requirements in real time, and finally realize intelligent adaptation of lighting to surgical operations.

[0079] This method captures the instrument's motion trajectory in real time and extracts dynamic features, combines multi-dimensional features to decode the operation intention, matches the dynamic needs of surgical operations, and avoids the ambiguity of single feature analysis; generates adaptive lighting requirements by associating instrument types, so that the light spot parameters not only fit the operation intention but also the functional characteristics of the instrument, solving the problem that traditional lighting is difficult to take into account different instrument operation scenarios; adopts lamp array zoning control and a gradient strategy that matches the instrument's movement rhythm to achieve real-time generation of dynamic light spots, reduce the frequency of doctors manually adjusting lighting, improve surgical efficiency, avoid blind spots in the field of view, enhance the clarity of the surgical field of view, and ultimately improve the accuracy and safety of surgical operations, realizing intelligent adaptation of lighting as the operation progresses.

[0080] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for controlling surgical shadowless lamp lighting, characterized in that: The method comprises: S1: The shadowless lamp's camera can be used to capture the movement trajectory of the instrument in real time; S2: Analyze the motion trajectory of the instrument and extract the dynamic characteristics of the motion trajectory of the instrument; S3: Decode the operation intention through the combination of dynamic features and generate lighting requirements based on the operation intention; S4: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

2. A surgical shadowless lamp lighting control method according to claim 1, characterized in that: The apparatus of S1 includes: Construct an instrument contour feature library, calculate the multi-scale curvature features of the candidate objects, perform similarity comparison with the feature library, and determine the type of the instrument.

3. The method for controlling surgical shadowless lamp lighting according to claim 1, wherein: The process of analyzing the motion trajectory of the instrument to extract dynamic features in S2 includes: The continuously collected coordinates of the instrument motion trajectory are analyzed in time series to calculate the instantaneous velocity and acceleration of the instrument during the motion process. The instantaneous velocity is determined by the ratio of the trajectory position change at adjacent moments to the time interval, and the acceleration is determined by the ratio of the instantaneous velocity change at adjacent moments to the time interval.

4. The method for controlling surgical shadowless lamp lighting according to claim 1, wherein: Extracting the dynamic characteristics of the instrument motion trajectory in S2 also includes: By analyzing the spatial distribution characteristics of the instrument's motion trajectory, the disorder degree and motion direction trend of the instrument's motion are determined. The disorder degree of motion is calculated by the discrete degree of the trajectory points relative to the fitted reference trajectory, and the motion direction trend is obtained by analyzing the change law of the displacement direction of continuous trajectory points.

5. The method for controlling surgical shadowless lamp lighting according to claim 1, wherein: The S3 decodes the operation intention through a combination of dynamic features, specifically including: The constructed dynamic feature combination operation intention mapping library associates and combines multiple dynamic features, matches them with the constructed dynamic feature combination operation intention mapping library, and determines the operation intention of the current operation based on the matching results.

6. The method for controlling the lighting of a surgical shadowless lamp according to claim 1, wherein: The generation of a dynamic light spot that meets the operation requirements in S3 specifically includes: Call the pre-stored association rules of operation intention, instrument type and lighting requirement to generate lighting requirements adapted to the instrument type. According to the operation intention, determine the coverage characteristics of the light spot of the lighting requirement.

7. A surgical shadowless lamp lighting control method according to claim 6, characterized in that: The association rules among operation intention, device type and lighting requirement are constructed as follows: Establishing a database of correspondences between instrument types and inherent operational functions, including operational accuracy requirements, range of action, and degrees of freedom of movement; Based on the above functions, basic lighting requirements are derived, among which high-precision instruments map small-range focused light spots; instruments with large range of action map extended light spots; and multi-degree-of-freedom instruments map dynamic tracking light spots.

8. The method for controlling surgical shadowless lamp lighting according to claim 1, characterized in that: The real-time adjustment of the lamp array output of the shadowless lamp by S4 specifically includes: Based on the lighting requirements generated in step S3, the lamp array is divided into multiple independent control areas that match the dynamic light spot shape; and a dynamic light spot that meets the operational requirements is formed through the coordinated control of each area.

9. The method for controlling surgical shadowless lamp lighting according to claim 8, characterized in that: The dynamic light spot includes: When the lighting demand changes, the output state of the lamp array is adjusted through the gradual control strategy to make the light spot transition from the current state to the target state; The gradual change control strategy includes: adjusting the rate of change of the luminous intensity of the lamp beads, and the transition process is matched with the movement rhythm of the instrument captured in step S1.

10. A surgical shadowless lamp lighting control system, characterized in that: The system comprises: Real-time instrument trajectory capture system: The shadowless lamp's camera can capture the instrument's movement trajectory in real time; Real-time instrument trajectory capture system: Analyzes the instrument trajectory and extracts the dynamic characteristics of the instrument trajectory; Operation intention decoding and lighting demand generation system: decodes operation intention through the combination of dynamic features and generates lighting requirements based on the operation intention; Dynamic light spot shaping system: According to lighting requirements, the output of the shadowless lamp's lamp array is adjusted in real time to generate a dynamic light spot that meets operational requirements.

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